ORB_SLAM2 Ubuntu16.04编译错误
Ubuntu14.04一切正常，迁移到Ubuntu16.04后编译报错，提示：
/usr/include/eigen3/Eigen/src/Core/AssignEvaluator.h:745:3: error: static assertion failed:YOU_MIXED_DIFFERENT_NUMERIC_TYPES__YOU_NEED_TO_USE_THE_CAST_METHOD_OF_MATRIXBASE_TO_CAST_NUMERIC_TYPES_EXPLICITLY
EIGEN_CHECK_BINARY_COMPATIBILIY(Func,typename ActualDstTypeCleaned::Scalar,typename Src::Scalar);
vip@Alienware-15-R2:~/work/ORB_SLAM2$ ./build.sh Configuring and building Thirdparty/DBoW2 ... mkdir: 无法创建目录"build": 文件已存在 -- Configuring done -- Generating done -- Build files have been written to: /home/vip/work/ORB_SLAM2/Thirdparty/DBoW2/build [100%] Built target DBoW2 Configuring and building Thirdparty/g2o ... mkdir: 无法创建目录"build": 文件已存在 -- BUILD TYPE:Release -- Compiling on Unix -- Configuring done -- Generating done -- Build files have been written to: /home/vip/work/ORB_SLAM2/Thirdparty/g2o/build [100%] Built target g2o Uncompress vocabulary ... Configuring and building ORB_SLAM2 ... mkdir: 无法创建目录"build": 文件已存在 Build type: Release -- Using flag -std=c++11. -- Configuring done -- Generating done -- Build files have been written to: /home/vip/work/ORB_SLAM2/build Scanning dependencies of target ORB_SLAM2 [ 3%] Building CXX object CMakeFiles/ORB_SLAM2.dir/src/Optimizer.cc.o In file included from /usr/include/eigen3/Eigen/Core:297:0, from /usr/include/eigen3/Eigen/Dense:1, from /usr/include/eigen3/Eigen/Eigen:1, from /usr/local/include/pangolin/gl/gl.h:40, from /usr/local/include/pangolin/pangolin.h:38, from /home/vip/work/ORB_SLAM2/include/MapDrawer.h:27, from /home/vip/work/ORB_SLAM2/include/Viewer.h:26, from /home/vip/work/ORB_SLAM2/include/Tracking.h:28, from /home/vip/work/ORB_SLAM2/include/LocalMapping.h:27, from /home/vip/work/ORB_SLAM2/include/LoopClosing.h:25, from /home/vip/work/ORB_SLAM2/include/Optimizer.h:31, from /home/vip/work/ORB_SLAM2/src/Optimizer.cc:21: /usr/include/eigen3/Eigen/src/Core/AssignEvaluator.h: In instantiation of ‘void Eigen::internal::call_assignment_no_alias(Dst&, const Src&, const Func&) [with Dst = Eigen::Matrix<int, -1, 1>; Src = Eigen::Matrix<long int, -1, 1, 0, -1, 1>; Func = Eigen::internal::assign_op<int>]’: /usr/include/eigen3/Eigen/src/Core/AssignEvaluator.h:712:27: required from ‘void Eigen::internal::call_assignment(Dst&, const Src&, const Func&, typename Eigen::internal::enable_if<(! Eigen::internal::evaluator_assume_aliasing<Src>::value), void*>::type) [with Dst = Eigen::Matrix<int, -1, 1>; Src = Eigen::Matrix<long int, -1, 1, 0, -1, 1>; Func = Eigen::internal::assign_op<int>; typename Eigen::internal::enable_if<(! Eigen::internal::evaluator_assume_aliasing<Src>::value), void*>::type = void*]’ /usr/include/eigen3/Eigen/src/Core/AssignEvaluator.h:693:18: required from ‘void Eigen::internal::call_assignment(Dst&, const Src&) [with Dst = Eigen::Matrix<int, -1, 1>; Src = Eigen::Matrix<long int, -1, 1, 0, -1, 1>]’ /usr/include/eigen3/Eigen/src/Core/PlainObjectBase.h:682:32: required from ‘Derived& Eigen::PlainObjectBase<Derived>::_set(const Eigen::DenseBase<OtherDerived>&) [with OtherDerived = Eigen::Matrix<long int, -1, 1, 0, -1, 1>; Derived = Eigen::Matrix<int, -1, 1>]’ /usr/include/eigen3/Eigen/src/Core/Matrix.h:225:24: required from ‘Eigen::Matrix<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols>& Eigen::Matrix<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols>::operator=(const Eigen::DenseBase<OtherDerived>&) [with OtherDerived = Eigen::Matrix<long int, -1, 1, 0, -1, 1>; _Scalar = int; int _Rows = -1; int _Cols = 1; int _Options = 0; int _MaxRows = -1; int _MaxCols = 1]’ /usr/include/eigen3/Eigen/src/Core/PermutationMatrix.h:367:17: required from ‘Eigen::PermutationMatrix<SizeAtCompileTime, MaxSizeAtCompileTime, IndexType>& Eigen::PermutationMatrix<SizeAtCompileTime, MaxSizeAtCompileTime, IndexType>::operator=(const Eigen::PermutationBase<OtherDerived>&) [with Other = Eigen::PermutationMatrix<-1, -1, long int>; int SizeAtCompileTime = -1; int MaxSizeAtCompileTime = -1; _StorageIndex = int]’ /home/vip/work/ORB_SLAM2/Thirdparty/g2o/g2o/solvers/linear_solver_eigen.h:68:18: required from ‘void g2o::LinearSolverEigen<MatrixType>::CholeskyDecomposition::analyzePatternWithPermutation(g2o::LinearSolverEigen<MatrixType>::SparseMatrix&, const PermutationMatrix&) [with MatrixType = Eigen::Matrix<double, 7, 7, 0, 7, 7>; g2o::LinearSolverEigen<MatrixType>::SparseMatrix = Eigen::SparseMatrix<double, 0>; g2o::LinearSolverEigen<MatrixType>::PermutationMatrix = Eigen::PermutationMatrix<-1, -1, long int>]’ /home/vip/work/ORB_SLAM2/Thirdparty/g2o/g2o/solvers/linear_solver_eigen.h:195:9: required from ‘void g2o::LinearSolverEigen<MatrixType>::computeSymbolicDecomposition(const g2o::SparseBlockMatrix<MatrixType>&) [with MatrixType = Eigen::Matrix<double, 7, 7, 0, 7, 7>]’ /home/vip/work/ORB_SLAM2/Thirdparty/g2o/g2o/solvers/linear_solver_eigen.h:100:37: required from ‘bool g2o::LinearSolverEigen<MatrixType>::solve(const g2o::SparseBlockMatrix<MatrixType>&, double*, double*) [with MatrixType = Eigen::Matrix<double, 7, 7, 0, 7, 7>]’ /home/vip/work/ORB_SLAM2/src/Optimizer.cc:1244:1: required from here /usr/include/eigen3/Eigen/src/Core/AssignEvaluator.h:745:3: error: static assertion failed: YOU_MIXED_DIFFERENT_NUMERIC_TYPES__YOU_NEED_TO_USE_THE_CAST_METHOD_OF_MATRIXBASE_TO_CAST_NUMERIC_TYPES_EXPLICITLY EIGEN_CHECK_BINARY_COMPATIBILIY(Func,typename ActualDstTypeCleaned::Scalar,typename Src::Scalar); ^ CMakeFiles/ORB_SLAM2.dir/build.make:350: recipe for target 'CMakeFiles/ORB_SLAM2.dir/src/Optimizer.cc.o' failed make[2]: *** [CMakeFiles/ORB_SLAM2.dir/src/Optimizer.cc.o] Error 1 CMakeFiles/Makefile2:67: recipe for target 'CMakeFiles/ORB_SLAM2.dir/all' failed make[1]: *** [CMakeFiles/ORB_SLAM2.dir/all] Error 2 Makefile:83: recipe for target 'all' failed make: *** [all] Error 2
问题原因：Eigen3的bug
解决方法：打开Thirdparty/g2o/g2o/solvers/linear_solver_eigen.h，将以下代码
1 template <typename MatrixType> 2 class LinearSolverEigen: public LinearSolver<MatrixType> 3 { 4 public: 5 typedef Eigen::SparseMatrix<double, Eigen::ColMajor> SparseMatrix; 6 typedef Eigen::Triplet<double> Triplet; 7 typedef Eigen::PermutationMatrix<Eigen::Dynamic, Eigen::Dynamic, SparseMatrix::Index> PermutationMatrix;
改为
1 template <typename MatrixType> 2 class LinearSolverEigen: public LinearSolver<MatrixType> 3 { 4 public: 5 typedef Eigen::SparseMatrix<double, Eigen::ColMajor> SparseMatrix; 6 typedef Eigen::Triplet<double> Triplet; 8 typedef Eigen::PermutationMatrix<Eigen::Dynamic, Eigen::Dynamic, int> PermutationMatrix; 9 /**
